@article{kaess2012isam2,
  title={iSAM2: Incremental smoothing and mapping using the Bayes tree},
  author={Kaess, Michael and Johannsson, Hordur and Roberts, Richard and Ila, Viorela and Leonard, John J and Dellaert, Frank},
  journal={The International Journal of Robotics Research},
  volume={31},
  number={2},
  pages={216--235},
  year={2012},
  publisher={Sage Publications Sage UK: London, England}
}
